SE9902690L - robot unit - Google Patents

robot unit

Info

Publication number
SE9902690L
SE9902690L SE9902690A SE9902690A SE9902690L SE 9902690 L SE9902690 L SE 9902690L SE 9902690 A SE9902690 A SE 9902690A SE 9902690 A SE9902690 A SE 9902690A SE 9902690 L SE9902690 L SE 9902690L
Authority
SE
Sweden
Prior art keywords
along
motors
transfer
work object
unit
Prior art date
Application number
SE9902690A
Other languages
Swedish (sv)
Other versions
SE9902690D0 (en
SE515980C2 (en
Inventor
Stefan Blomgren
Ingemar Pettersson
Original Assignee
Binaer Elektronik Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=20416490&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SE9902690(L) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Binaer Elektronik Ab filed Critical Binaer Elektronik Ab
Priority to SE9902690A priority Critical patent/SE515980C2/en
Publication of SE9902690D0 publication Critical patent/SE9902690D0/en
Priority to DE60007879T priority patent/DE60007879T2/en
Priority to JP2001509345A priority patent/JP2003529453A/en
Priority to ES00948443T priority patent/ES2215057T3/en
Priority to PT00948443T priority patent/PT1210214E/en
Priority to CN00809437.3A priority patent/CN1219630C/en
Priority to AT00948443T priority patent/ATE258100T1/en
Priority to US10/030,419 priority patent/US7189049B1/en
Priority to EP00948443A priority patent/EP1210214B1/en
Priority to AU61924/00A priority patent/AU6192400A/en
Priority to BRPI0012420-6A priority patent/BR0012420B1/en
Priority to BRPI0017461-0A priority patent/BR0017461B1/en
Priority to PCT/SE2000/001425 priority patent/WO2001003891A1/en
Publication of SE9902690L publication Critical patent/SE9902690L/en
Publication of SE515980C2 publication Critical patent/SE515980C2/en
Priority to US11/703,093 priority patent/US20070134082A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36463—Manual switch to drive motor to wanted position, store, memorize position

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

The present invention relates to a method for rapid transfer of a work object in both the horizontal and vertical directions using a robot unit ( 10 ) having a gripping mechanism ( 12 ) preferably from one workstation ( 3 ) to another ( 4 ), the work piece ( 2 ) weighing between one kilo and forty kilos and the transfer in the horizontal direction being at least one metre but less than ten metres and at least partially being effected along an essentially horizontally extending beam unit ( 20 ), and the gripping mechanism ( 12 ) being arranged in such a way that, at least in one end situation (E 1 ) along the beam ( 20 ), it can collect and/or deliver a work object ( 2 ) in a position (E 2 ) situated beyond the end situation (E 1 ) along the said horizontal beam ( 20 ), which robot unit is controlled by means of a control unit ( 50 ) and is driven by means of a belt member ( 24 ) and at least two motors ( 26, 27 ) comprising rotor units connected to drive wheels ( 26 A, 27 A) for the said belt member ( 24 ), the said motors ( 26, 27 ) being immovably arranged in relation to the said workstations ( 3, 4 ) and the transfer of the work object ( 2 ) being effected without displacement of either of the said two motors ( 26, 27 ), characterized in that the whole of the transfer is executed along one and the same beam unit ( 20 ), in that the said belt member ( 24 ) is constituted by a single continuous drive belt ( 24 ), which, at the same time, is connected to and driven by the said drive wheels ( 26 A, 27 A), and by the displacement of the work object being guided along a pre-programmed path by means of a control computer ( 51 ) in the control unit ( 50 ) through the continuous control and registration of the situation of each of the rotors forming part of the said motors ( 26, 27 ).
SE9902690A 1999-07-13 1999-07-13 A method for the rapid movement of a work object in both horizontal and vertical directions from one workstation to another SE515980C2 (en)

Priority Applications (14)

Application Number Priority Date Filing Date Title
SE9902690A SE515980C2 (en) 1999-07-13 1999-07-13 A method for the rapid movement of a work object in both horizontal and vertical directions from one workstation to another
BRPI0017461-0A BR0017461B1 (en) 1999-07-13 2000-07-05 method and apparatus for rapid transfer of a work object and a robot unit.
PCT/SE2000/001425 WO2001003891A1 (en) 1999-07-13 2000-07-05 Robot unit
CN00809437.3A CN1219630C (en) 1999-07-13 2000-07-05 Robot unit
EP00948443A EP1210214B1 (en) 1999-07-13 2000-07-05 Robot unit
ES00948443T ES2215057T3 (en) 1999-07-13 2000-07-05 ROBOT UNIT
PT00948443T PT1210214E (en) 1999-07-13 2000-07-05 ROBOT UNIT
DE60007879T DE60007879T2 (en) 1999-07-13 2000-07-05 Method and robot unit for the rapid implementation of a work object
AT00948443T ATE258100T1 (en) 1999-07-13 2000-07-05 ROBOT
US10/030,419 US7189049B1 (en) 1999-07-13 2000-07-05 Robot unit
JP2001509345A JP2003529453A (en) 1999-07-13 2000-07-05 Robot unit
AU61924/00A AU6192400A (en) 1999-07-13 2000-07-05 Robot unit
BRPI0012420-6A BR0012420B1 (en) 1999-07-13 2000-07-05 A method for rapid transfer of a work object and robot unit to perform such a method.
US11/703,093 US20070134082A1 (en) 1999-07-13 2007-02-07 System and method for robot unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9902690A SE515980C2 (en) 1999-07-13 1999-07-13 A method for the rapid movement of a work object in both horizontal and vertical directions from one workstation to another

Publications (3)

Publication Number Publication Date
SE9902690D0 SE9902690D0 (en) 1999-07-13
SE9902690L true SE9902690L (en) 2001-01-14
SE515980C2 SE515980C2 (en) 2001-11-05

Family

ID=20416490

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9902690A SE515980C2 (en) 1999-07-13 1999-07-13 A method for the rapid movement of a work object in both horizontal and vertical directions from one workstation to another

Country Status (12)

Country Link
US (2) US7189049B1 (en)
EP (1) EP1210214B1 (en)
JP (1) JP2003529453A (en)
CN (1) CN1219630C (en)
AT (1) ATE258100T1 (en)
AU (1) AU6192400A (en)
BR (2) BR0017461B1 (en)
DE (1) DE60007879T2 (en)
ES (1) ES2215057T3 (en)
PT (1) PT1210214E (en)
SE (1) SE515980C2 (en)
WO (1) WO2001003891A1 (en)

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US9219755B2 (en) 1996-11-08 2015-12-22 Finjan, Inc. Malicious mobile code runtime monitoring system and methods
US8079086B1 (en) 1997-11-06 2011-12-13 Finjan, Inc. Malicious mobile code runtime monitoring system and methods
US7058822B2 (en) 2000-03-30 2006-06-06 Finjan Software, Ltd. Malicious mobile code runtime monitoring system and methods
NL1021638C2 (en) * 2002-10-11 2004-04-14 Karel Johannes Van Assenbergh Manipulator, especially for injection moulding machines, comprises arm connected to sleighs driven by shafts extending parallel to fixed frame plate
US20060198720A1 (en) * 2003-01-07 2006-09-07 How-Sen Yang Elevated Parking/Storage Device (With No Effect On Existing Ground Parking/Storage Space)
ES2229898B1 (en) * 2003-05-16 2006-07-01 Jose Miguel Sanchez Soler MECHANISM OF CARTESIAN DISPLACEMENT, WITH UNIQUE TRANSMISSION AND DOUBLE OPERATION.
ITMI20040597A1 (en) * 2004-03-26 2004-06-26 Bavelloni Z Spa LOADING AND UNLOADING EQUIPMENT FOR SLABS FOR MACHINES FOR WORKING ON SLAB MATERIALS
DE102004037004A1 (en) * 2004-07-30 2006-03-23 Bosch Rexroth Aktiengesellschaft stopping device
AT501826B1 (en) * 2005-05-11 2007-02-15 Sticht Fertigungstech Stiwa DEVICE FOR PROMOTING AND ASSEMBLING FERROMAGNETIC PARTS
JP4844824B2 (en) * 2006-06-08 2011-12-28 株式会社ダイフク Goods storage facility
DE102007009747B4 (en) * 2007-02-28 2009-01-29 Siemens Ag transfer system
JP4935442B2 (en) * 2007-03-16 2012-05-23 村田機械株式会社 Plate material unloading apparatus and plate material unloading method
DE102007019899B4 (en) 2007-04-27 2009-04-02 Schuler Pressen Gmbh & Co. Kg Transfer press with inconsistent station spacing
WO2009054778A1 (en) * 2007-10-22 2009-04-30 Binar Aktiebolag (Publ) Robot unit
KR101479234B1 (en) * 2008-09-04 2015-01-06 삼성전자 주식회사 Robot and method of controlling the same
US8870632B2 (en) * 2008-09-10 2014-10-28 Laitram, L.L.C. Apparatus and method for cleaning peeling machines
US8616940B2 (en) * 2008-09-10 2013-12-31 Laitram, L.L.C. Apparatus and method for cleaning peeling machines
BRPI0803973A2 (en) * 2008-09-29 2011-10-11 Luciano Trindade De Sousa Monteiro inter-stage parts transfer module
KR101063495B1 (en) * 2009-06-15 2011-09-07 현대자동차주식회사 Traverse device
DE102009026318A1 (en) * 2009-08-04 2011-02-10 Krones Ag Handling device for moving goods
DE202009015682U1 (en) 2009-12-01 2011-04-14 Kuka Systems Gmbh transport means
DE102010021277A1 (en) * 2010-05-18 2011-11-24 Esw Gmbh Device for positioning
KR101299134B1 (en) 2012-03-19 2013-08-22 한국과학기술연구원 Searching system and method for moving targets in dynamic environment by cooperation of plural robots
DE102013204160A1 (en) * 2013-03-11 2014-09-11 Multivac Sepp Haggenmüller Gmbh & Co. Kg Packaging system with latching station and method
JP6214310B2 (en) * 2013-10-02 2017-10-18 三菱電機株式会社 Pick and place equipment
US9643324B1 (en) * 2015-10-29 2017-05-09 Gourmeon Inc. Multi-axis robot with remote drives facilitating hazardous energy isolation for use by home consumers
CN107934523B (en) * 2017-11-18 2020-08-11 太原理工大学 Rod-shaped workpiece taking and placing device and storing and taking box
CN107954138B (en) * 2017-11-18 2020-06-02 太原理工大学 Tubular workpiece taking and placing device and storing and taking box
DE102019113372B4 (en) * 2019-05-20 2022-03-31 Gerhard Schubert Gmbh Robotic arm and method of controlling it
CN112975920A (en) * 2019-12-18 2021-06-18 苏州中莱输送设备有限公司 Truss robot for clamping fermentation barrel cover
CN116945210B (en) * 2023-07-12 2024-03-15 深圳市永顺创能技术有限公司 Robot intelligent control system based on machine vision

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Also Published As

Publication number Publication date
ATE258100T1 (en) 2004-02-15
DE60007879D1 (en) 2004-02-26
CN1358127A (en) 2002-07-10
BR0012420A (en) 2002-04-02
WO2001003891A1 (en) 2001-01-18
BR0012420B1 (en) 2009-01-13
ES2215057T3 (en) 2004-10-01
US7189049B1 (en) 2007-03-13
CN1219630C (en) 2005-09-21
BR0017461B1 (en) 2011-07-12
DE60007879T2 (en) 2004-10-14
AU6192400A (en) 2001-01-30
SE9902690D0 (en) 1999-07-13
EP1210214A1 (en) 2002-06-05
JP2003529453A (en) 2003-10-07
PT1210214E (en) 2004-06-30
SE515980C2 (en) 2001-11-05
EP1210214B1 (en) 2004-01-21
US20070134082A1 (en) 2007-06-14

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